基于分层信息数据库的智能车仿真环境感知方法研究  

A Research on the Environmental Perception Method in Intelligent Vehicle Simulation Based on Layered Information Database

作　　者：管欣[1] 洪峰[1] 贾鑫[1] 张永赫[1] 鲍阚 

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022

出　　处：《汽车工程》2015年第1期43-48,61,共7页Automotive Engineering

基　　金：教育部长江学者和创新团队发展计划(IRT0626)资助

摘　　要：针对目前智能汽车仿真中应用最广的环境感知方法(建立数据库,动态更新提取信息)的不足,提出了一种分类、分层的数据结构定义与存储方法,使数据库不但能描述复杂的道路情况,而且修改容易;在此基础上,将碰撞检测算法引入信息动态提取过程中,实现分层的感知信息提取。在驾驶模拟器上进行的车道标线、交通标志感知试验的结果表明,本文中提出的方法能实时对环境信息进行全面可靠的检测,并给出真实传感器的检测误差。In view of the inadequacy of the most commonly used way of environmental perception in current intelligent vehicle simulation, i. e. database setup and dynamic information update and extraction, a definition and storage method of classified and hierarchical data structure is proposed, which can not only describe complex road condition, but is also easy to modify. On this basis, a collision detection algorithm is introduced into the extraction process of dynamic information to realize the extraction of layered perception information. A perception test of lane markings and traffic signs is conducted on driving simulator with a result showing that the method proposed can fulfill thorough and reliable detection on environment information in real time with the detection error of real sensor given.

关 键 词：驾驶模拟器 智能汽车仿真 环境感知 数据库 碰撞检测 

分 类 号：U467[机械工程—车辆工程] U463.6[交通运输工程—载运工具运用工程]